Yuxuan Kuang (original) (raw)

Yuxuan Kuang

I am a Ph.D. student in the CMU Robotics Institute, working with Prof. Shubham Tulsiani and Prof. Katerina Fragkiadaki. Previously, I received my Bachelor's degree in Computer Science from Peking University. During my undergrad years, I have been fortunate to work with Prof. Yue Wang, Prof. Marco Pavone, Prof. Meng Jiang, and Prof. He Wang. My research interest spans Robotics, 3D/4D Vision, and Machine Learning. My research objective is to endow Embodied AI Agents working in complex real-world scenes with generalizable sensorimotor capabilities. How to pronounce my first name? To approximate: replace the letter "x" with "sh". I also go by Gavin.Here is a standard Chinese pronunciation of my first name if you wonder: Email / GitHub / Google Scholar / Twitter

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Research

*: Equal Contributions; †: Equal Advising

	Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulation Yuxuan Kuang, Sungjae Park, Katerina Fragkiadaki†, Shubham Tulsiani† Paper /Project / Code arXiv preprint, 2026.
	SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending Yuxuan Kuang, Haoran Geng, Amine Elhafsi, Tan-Dzung Do, Pieter Abbeel, Jitendra Malik, Marco Pavone, Yue Wang Paper /Project / Code arXiv preprint, 2025.
	RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning RoboVerse Team Paper /Project / Code Robotics: Science and Systems (RSS), 2025. (Oral Presentation)
	FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real Weiheng Liu, Yuxuan Wan, Jilong Wang, Yuxuan Kuang, Wenbo Cui, Xuesong Shi, Haoran Li, Dongbin Zhao, Zhizheng Zhang†, He Wang† Paper /Project / Code Conference on Robot Learning (CoRL), 2025. (Oral Presentation)
	A0: An Affordance-Aware Hierarchical Model for General Robotic Manipulation Rongtao Xu, Jian Zhang, Minghao Guo, Youpeng Wen, Haoting Yang, Min Lin, Jianzheng Huang, Zhe Li, Kaidong Zhang, Liqiong Wang, Yuxuan Kuang, Meng Cao, Feng Zheng†, Xiaodan Liang† Paper /Project / Code International Conference on Computer Vision (ICCV), 2025.
	RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang Paper /Project / Code Conference on Robot Learning (CoRL), 2024.* (Oral Presentation, 4.5% acceptance rate)
	OpenFMNav: Towards Open-Set Zero-Shot Object Navigation via Vision-Language Foundation Models Yuxuan Kuang, Hai Lin, Meng Jiang Paper /Project / Code Findings of Annual Conference of the North American Chapter of the Association for Computational Linguistics (NAACL), 2024.
	STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines Yuxuan Kuang, Qin Han, Danshi Li, Qiyu Dai, Lian Ding, Dong Sun, Hanlin Zhao, He Wang† Paper /Project / Code International Conference on Robotics and Automation (ICRA), 2024. (Oral Presentation)

Journal Reviewer: IJRR, RA-L
Conference Reviewer: RSS, ICML, CoRL, IROS
Teaching Assistant, Introduction to Computation (C), Fall 2024
Excellent Research Exhibition Award - Peking University - 2025
Academic Innovation Award - Peking University - 2024
Outstanding Research Award - Peking University - 2024
NG Teng Fong / Sino Scholarship - Peking University - 2023
1st Prize - The 34th Chinese Chemistry Olympiad - 2020

Last updated in March 2026.

Website acknowledgments: [0, 1, 2, 3]

	Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulation Yuxuan Kuang, Sungjae Park, Katerina Fragkiadaki†, Shubham Tulsiani† Paper /Project / Code arXiv preprint, 2026.
	SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending Yuxuan Kuang, Haoran Geng, Amine Elhafsi, Tan-Dzung Do, Pieter Abbeel, Jitendra Malik, Marco Pavone, Yue Wang Paper /Project / Code arXiv preprint, 2025.
	RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning RoboVerse Team Paper /Project / Code Robotics: Science and Systems (RSS), 2025. (Oral Presentation)
	FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real Weiheng Liu, Yuxuan Wan, Jilong Wang, Yuxuan Kuang, Wenbo Cui, Xuesong Shi, Haoran Li, Dongbin Zhao, Zhizheng Zhang†, He Wang† Paper /Project / Code Conference on Robot Learning (CoRL), 2025. (Oral Presentation)
	A0: An Affordance-Aware Hierarchical Model for General Robotic Manipulation Rongtao Xu, Jian Zhang, Minghao Guo, Youpeng Wen, Haoting Yang, Min Lin, Jianzheng Huang, Zhe Li, Kaidong Zhang, Liqiong Wang, Yuxuan Kuang, Meng Cao, Feng Zheng†, Xiaodan Liang† Paper /Project / Code International Conference on Computer Vision (ICCV), 2025.
	RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang Paper /Project / Code Conference on Robot Learning (CoRL), 2024.* (Oral Presentation, 4.5% acceptance rate)
	OpenFMNav: Towards Open-Set Zero-Shot Object Navigation via Vision-Language Foundation Models Yuxuan Kuang, Hai Lin, Meng Jiang Paper /Project / Code Findings of Annual Conference of the North American Chapter of the Association for Computational Linguistics (NAACL), 2024.
	STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines Yuxuan Kuang, Qin Han, Danshi Li, Qiyu Dai, Lian Ding, Dong Sun, Hanlin Zhao, He Wang† Paper /Project / Code International Conference on Robotics and Automation (ICRA), 2024. (Oral Presentation)